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   <div id="projectname">Calico
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   <div id="projectbrief">A visual-inertial calibration library designed for rapid problem construction and debugging.</div>
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<div class="title">world_model.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef CALICO_WORLD_MODEL_H_</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define CALICO_WORLD_MODEL_H_</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &quot;calico/typedefs.h&quot;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &quot;absl/container/flat_hash_map.h&quot;</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;absl/status/status.h&quot;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;ceres/problem.h&quot;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;Eigen/Dense&quot;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecalico.html">calico</a> {</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
<div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="namespacecalico.html#a6db3636699bf6c8f6405547a35608b33">   16</a></span>&#160;constexpr <span class="keywordtype">int</span> <a class="code" href="namespacecalico.html#a6db3636699bf6c8f6405547a35608b33">kLandmarkFrameId</a> = -1;</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="structcalico_1_1Landmark.html">   22</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structcalico_1_1Landmark.html">Landmark</a> {</div>
<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="structcalico_1_1Landmark.html#a1d638340859a07f0336a1e6508039b01">   24</a></span>&#160;  Eigen::Vector3d <a class="code" href="structcalico_1_1Landmark.html#a1d638340859a07f0336a1e6508039b01">point</a>;</div>
<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="structcalico_1_1Landmark.html#a01ef29817882c1a955f9b6d3c5d84822">   26</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structcalico_1_1Landmark.html#a01ef29817882c1a955f9b6d3c5d84822">id</a>;</div>
<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="structcalico_1_1Landmark.html#a90536375cd28e2db13906118534c3225">   29</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structcalico_1_1Landmark.html#a90536375cd28e2db13906118534c3225">point_is_constant</a>;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;};</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="structcalico_1_1RigidBody.html">   53</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structcalico_1_1RigidBody.html">RigidBody</a> {</div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="structcalico_1_1RigidBody.html#a9ef4f4a0970873044f524a3fcd7b5682">   57</a></span>&#160;  std::unordered_map&lt;int, Eigen::Vector3d&gt; <a class="code" href="structcalico_1_1RigidBody.html#a9ef4f4a0970873044f524a3fcd7b5682">model_definition</a>;</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structcalico_1_1RigidBody.html#a94fa27a592a25869caed2b420af468ca">   59</a></span>&#160;  <a class="code" href="classcalico_1_1Pose3.html">Pose3d</a> <a class="code" href="structcalico_1_1RigidBody.html#a94fa27a592a25869caed2b420af468ca">T_world_rigidbody</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="structcalico_1_1RigidBody.html#a637c97b6fafebaae78e52cc40a06b794">   62</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structcalico_1_1RigidBody.html#a637c97b6fafebaae78e52cc40a06b794">id</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structcalico_1_1RigidBody.html#acb3060fecdee55133d44931193c1db7e">   65</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structcalico_1_1RigidBody.html#acb3060fecdee55133d44931193c1db7e">world_pose_is_constant</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="structcalico_1_1RigidBody.html#a10740abe70a502c155d87108f2c50eaa">   68</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structcalico_1_1RigidBody.html#a10740abe70a502c155d87108f2c50eaa">model_definition_is_constant</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;};</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classcalico_1_1WorldModel.html">   73</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcalico_1_1WorldModel.html">WorldModel</a> {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; <span class="keyword">public</span>:</div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classcalico_1_1WorldModel.html#ad1ea2db6d798cefe1a3324d928d8cf80">   78</a></span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">double</span> <a class="code" href="classcalico_1_1WorldModel.html#ad1ea2db6d798cefe1a3324d928d8cf80">kGravityDefaultZ</a> = -9.80665;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <a class="code" href="classcalico_1_1WorldModel.html">WorldModel</a>();</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  ~<a class="code" href="classcalico_1_1WorldModel.html">WorldModel</a>();</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  absl::Status <a class="code" href="classcalico_1_1WorldModel.html#afd4a907cae652f141e5ec99fc3bc1fdc">AddLandmark</a>(<a class="code" href="structcalico_1_1Landmark.html">Landmark</a>* landmark, <span class="keywordtype">bool</span> take_ownership = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  absl::Status <a class="code" href="classcalico_1_1WorldModel.html#a91c0845b071a8e64a304943417e9d0ca">AddRigidBody</a>(<a class="code" href="structcalico_1_1RigidBody.html">RigidBody</a>* rigidbody, <span class="keywordtype">bool</span> take_ownership = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcalico_1_1WorldModel.html#acf704782e9329ec635dd92e5eec5a628">AddParametersToProblem</a>(ceres::Problem&amp; problem);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keyword">const</span> absl::flat_hash_map&lt;int, std::unique_ptr&lt;Landmark&gt;&gt;&amp; <a class="code" href="classcalico_1_1WorldModel.html#acb53d0d6c62e00865f788e0bd1ca2f05">landmarks</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  absl::flat_hash_map&lt;int, std::unique_ptr&lt;Landmark&gt;&gt;&amp; <a class="code" href="classcalico_1_1WorldModel.html#acb53d0d6c62e00865f788e0bd1ca2f05">landmarks</a>();</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keyword">const</span> absl::flat_hash_map&lt;int, std::unique_ptr&lt;RigidBody&gt;&gt;&amp; <a class="code" href="classcalico_1_1WorldModel.html#a6075b5294ddcd0baea9ab78aa2cc1f2a">rigidbodies</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  absl::flat_hash_map&lt;int, std::unique_ptr&lt;RigidBody&gt;&gt;&amp; <a class="code" href="classcalico_1_1WorldModel.html#a6075b5294ddcd0baea9ab78aa2cc1f2a">rigidbodies</a>();</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcalico_1_1WorldModel.html#a0d74e3083470d9ce42e76c0c18232352">EnableGravityEstimation</a>(<span class="keywordtype">bool</span> enable);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d&amp; <a class="code" href="classcalico_1_1WorldModel.html#a1bdb7b2cfbd251208ae991ccae15f9fc">gravity</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  Eigen::Vector3d&amp; <a class="code" href="classcalico_1_1WorldModel.html#a1bdb7b2cfbd251208ae991ccae15f9fc">gravity</a>();</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcalico_1_1WorldModel.html#a9d95faa8fb56eeb96c27b1c3f3138886">SetGravity</a>(<span class="keyword">const</span> Eigen::Vector3d&amp; <a class="code" href="classcalico_1_1WorldModel.html#a1bdb7b2cfbd251208ae991ccae15f9fc">gravity</a>);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d&amp; <a class="code" href="classcalico_1_1WorldModel.html#a9caceb6a22a4761f7d5d15db6e6b134c">GetGravity</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcalico_1_1WorldModel.html#ae5490368c97a76f340846c6fdf4bfc06">NumberOfLandmarks</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcalico_1_1WorldModel.html#a3814abe90cbbf75f7ac91bfaf4071506">NumberOfRigidBodies</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcalico_1_1WorldModel.html#ad118b23fe00fa57e84931de473f63fef">ClearLandmarks</a>();</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcalico_1_1WorldModel.html#a1c0a27afdf03193c8de4fa2f0127e884">ClearRigidBodies</a>();</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcalico_1_1WorldModel.html#afc24a5177e78989c1f0b4dbf976f2c96">Clear</a>();</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; <span class="keyword">private</span>:</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  absl::flat_hash_map&lt;int, bool&gt; rigidbody_id_to_own_rigidbody_;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  absl::flat_hash_map&lt;int, bool&gt; landmark_id_to_own_landmark_;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  absl::flat_hash_map&lt;int, std::unique_ptr&lt;RigidBody&gt;&gt; rigidbody_id_to_rigidbody_;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  absl::flat_hash_map&lt;int, std::unique_ptr&lt;Landmark&gt;&gt; landmark_id_to_landmark_;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  Eigen::Vector3d gravity_;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="keywordtype">bool</span> gravity_enabled_;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;};</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;} <span class="comment">// namespace calico</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// CALICO_WORLD_MODEL_H_</span></div>
<div class="ttc" id="aclasscalico_1_1Pose3_html"><div class="ttname"><a href="classcalico_1_1Pose3.html">calico::Pose3&lt; double &gt;</a></div></div>
<div class="ttc" id="aclasscalico_1_1WorldModel_html"><div class="ttname"><a href="classcalico_1_1WorldModel.html">calico::WorldModel</a></div><div class="ttdef"><b>Definition:</b> world_model.h:73</div></div>
<div class="ttc" id="aclasscalico_1_1WorldModel_html_a0d74e3083470d9ce42e76c0c18232352"><div class="ttname"><a href="classcalico_1_1WorldModel.html#a0d74e3083470d9ce42e76c0c18232352">calico::WorldModel::EnableGravityEstimation</a></div><div class="ttdeci">void EnableGravityEstimation(bool enable)</div><div class="ttdoc">Enable flag for gravity estimation.</div><div class="ttdef"><b>Definition:</b> world_model.cpp:79</div></div>
<div class="ttc" id="aclasscalico_1_1WorldModel_html_a1bdb7b2cfbd251208ae991ccae15f9fc"><div class="ttname"><a href="classcalico_1_1WorldModel.html#a1bdb7b2cfbd251208ae991ccae15f9fc">calico::WorldModel::gravity</a></div><div class="ttdeci">const Eigen::Vector3d &amp; gravity() const</div><div class="ttdoc">Accessor for gravity vector.</div><div class="ttdef"><b>Definition:</b> world_model.cpp:103</div></div>
<div class="ttc" id="aclasscalico_1_1WorldModel_html_a1c0a27afdf03193c8de4fa2f0127e884"><div class="ttname"><a href="classcalico_1_1WorldModel.html#a1c0a27afdf03193c8de4fa2f0127e884">calico::WorldModel::ClearRigidBodies</a></div><div class="ttdeci">void ClearRigidBodies()</div><div class="ttdoc">Remove all RigidBody objects from the world model.</div><div class="ttdef"><b>Definition:</b> world_model.cpp:133</div></div>
<div class="ttc" id="aclasscalico_1_1WorldModel_html_a3814abe90cbbf75f7ac91bfaf4071506"><div class="ttname"><a href="classcalico_1_1WorldModel.html#a3814abe90cbbf75f7ac91bfaf4071506">calico::WorldModel::NumberOfRigidBodies</a></div><div class="ttdeci">int NumberOfRigidBodies() const</div><div class="ttdoc">Get the number of rigid bodies currently in this world model.</div><div class="ttdef"><b>Definition:</b> world_model.cpp:119</div></div>
<div class="ttc" id="aclasscalico_1_1WorldModel_html_a6075b5294ddcd0baea9ab78aa2cc1f2a"><div class="ttname"><a href="classcalico_1_1WorldModel.html#a6075b5294ddcd0baea9ab78aa2cc1f2a">calico::WorldModel::rigidbodies</a></div><div class="ttdeci">const absl::flat_hash_map&lt; int, std::unique_ptr&lt; RigidBody &gt; &gt; &amp; rigidbodies() const</div><div class="ttdoc">Accessor for rigid bodies.</div><div class="ttdef"><b>Definition:</b> world_model.cpp:95</div></div>
<div class="ttc" id="aclasscalico_1_1WorldModel_html_a91c0845b071a8e64a304943417e9d0ca"><div class="ttname"><a href="classcalico_1_1WorldModel.html#a91c0845b071a8e64a304943417e9d0ca">calico::WorldModel::AddRigidBody</a></div><div class="ttdeci">absl::Status AddRigidBody(RigidBody *rigidbody, bool take_ownership=true)</div><div class="ttdef"><b>Definition:</b> world_model.cpp:30</div></div>
<div class="ttc" id="aclasscalico_1_1WorldModel_html_a9caceb6a22a4761f7d5d15db6e6b134c"><div class="ttname"><a href="classcalico_1_1WorldModel.html#a9caceb6a22a4761f7d5d15db6e6b134c">calico::WorldModel::GetGravity</a></div><div class="ttdeci">const Eigen::Vector3d &amp; GetGravity() const</div><div class="ttdoc">Getter for gravity for easy pybind integration.</div><div class="ttdef"><b>Definition:</b> world_model.cpp:111</div></div>
<div class="ttc" id="aclasscalico_1_1WorldModel_html_a9d95faa8fb56eeb96c27b1c3f3138886"><div class="ttname"><a href="classcalico_1_1WorldModel.html#a9d95faa8fb56eeb96c27b1c3f3138886">calico::WorldModel::SetGravity</a></div><div class="ttdeci">void SetGravity(const Eigen::Vector3d &amp;gravity)</div><div class="ttdoc">Setter for gravity for easy pybind integration.</div><div class="ttdef"><b>Definition:</b> world_model.cpp:107</div></div>
<div class="ttc" id="aclasscalico_1_1WorldModel_html_acb53d0d6c62e00865f788e0bd1ca2f05"><div class="ttname"><a href="classcalico_1_1WorldModel.html#acb53d0d6c62e00865f788e0bd1ca2f05">calico::WorldModel::landmarks</a></div><div class="ttdeci">const absl::flat_hash_map&lt; int, std::unique_ptr&lt; Landmark &gt; &gt; &amp; landmarks() const</div><div class="ttdoc">Accessor for landmarks.</div><div class="ttdef"><b>Definition:</b> world_model.cpp:87</div></div>
<div class="ttc" id="aclasscalico_1_1WorldModel_html_acf704782e9329ec635dd92e5eec5a628"><div class="ttname"><a href="classcalico_1_1WorldModel.html#acf704782e9329ec635dd92e5eec5a628">calico::WorldModel::AddParametersToProblem</a></div><div class="ttdeci">int AddParametersToProblem(ceres::Problem &amp;problem)</div><div class="ttdef"><b>Definition:</b> world_model.cpp:40</div></div>
<div class="ttc" id="aclasscalico_1_1WorldModel_html_ad118b23fe00fa57e84931de473f63fef"><div class="ttname"><a href="classcalico_1_1WorldModel.html#ad118b23fe00fa57e84931de473f63fef">calico::WorldModel::ClearLandmarks</a></div><div class="ttdeci">void ClearLandmarks()</div><div class="ttdoc">Remove all Landmark objects from the world model.</div><div class="ttdef"><b>Definition:</b> world_model.cpp:123</div></div>
<div class="ttc" id="aclasscalico_1_1WorldModel_html_ad1ea2db6d798cefe1a3324d928d8cf80"><div class="ttname"><a href="classcalico_1_1WorldModel.html#ad1ea2db6d798cefe1a3324d928d8cf80">calico::WorldModel::kGravityDefaultZ</a></div><div class="ttdeci">static constexpr double kGravityDefaultZ</div><div class="ttdef"><b>Definition:</b> world_model.h:78</div></div>
<div class="ttc" id="aclasscalico_1_1WorldModel_html_ae5490368c97a76f340846c6fdf4bfc06"><div class="ttname"><a href="classcalico_1_1WorldModel.html#ae5490368c97a76f340846c6fdf4bfc06">calico::WorldModel::NumberOfLandmarks</a></div><div class="ttdeci">int NumberOfLandmarks() const</div><div class="ttdoc">Get the number of landmarks currently in this world model.</div><div class="ttdef"><b>Definition:</b> world_model.cpp:115</div></div>
<div class="ttc" id="aclasscalico_1_1WorldModel_html_afc24a5177e78989c1f0b4dbf976f2c96"><div class="ttname"><a href="classcalico_1_1WorldModel.html#afc24a5177e78989c1f0b4dbf976f2c96">calico::WorldModel::Clear</a></div><div class="ttdeci">void Clear()</div><div class="ttdoc">Remove all objects from the world model.</div><div class="ttdef"><b>Definition:</b> world_model.cpp:143</div></div>
<div class="ttc" id="aclasscalico_1_1WorldModel_html_afd4a907cae652f141e5ec99fc3bc1fdc"><div class="ttname"><a href="classcalico_1_1WorldModel.html#afd4a907cae652f141e5ec99fc3bc1fdc">calico::WorldModel::AddLandmark</a></div><div class="ttdeci">absl::Status AddLandmark(Landmark *landmark, bool take_ownership=true)</div><div class="ttdef"><b>Definition:</b> world_model.cpp:20</div></div>
<div class="ttc" id="anamespacecalico_html"><div class="ttname"><a href="namespacecalico.html">calico</a></div><div class="ttdoc">Primary calico namespace.</div><div class="ttdef"><b>Definition:</b> __init__.py:1</div></div>
<div class="ttc" id="anamespacecalico_html_a6db3636699bf6c8f6405547a35608b33"><div class="ttname"><a href="namespacecalico.html#a6db3636699bf6c8f6405547a35608b33">calico::kLandmarkFrameId</a></div><div class="ttdeci">constexpr int kLandmarkFrameId</div><div class="ttdoc">Default frame id for a landmark (i.e. World frame).</div><div class="ttdef"><b>Definition:</b> world_model.h:16</div></div>
<div class="ttc" id="astructcalico_1_1Landmark_html"><div class="ttname"><a href="structcalico_1_1Landmark.html">calico::Landmark</a></div><div class="ttdef"><b>Definition:</b> world_model.h:22</div></div>
<div class="ttc" id="astructcalico_1_1Landmark_html_a01ef29817882c1a955f9b6d3c5d84822"><div class="ttname"><a href="structcalico_1_1Landmark.html#a01ef29817882c1a955f9b6d3c5d84822">calico::Landmark::id</a></div><div class="ttdeci">int id</div><div class="ttdoc">Unique id for this landmark.</div><div class="ttdef"><b>Definition:</b> world_model.h:26</div></div>
<div class="ttc" id="astructcalico_1_1Landmark_html_a1d638340859a07f0336a1e6508039b01"><div class="ttname"><a href="structcalico_1_1Landmark.html#a1d638340859a07f0336a1e6508039b01">calico::Landmark::point</a></div><div class="ttdeci">Eigen::Vector3d point</div><div class="ttdoc">This landmark's location in the world frame. .</div><div class="ttdef"><b>Definition:</b> world_model.h:24</div></div>
<div class="ttc" id="astructcalico_1_1Landmark_html_a90536375cd28e2db13906118534c3225"><div class="ttname"><a href="structcalico_1_1Landmark.html#a90536375cd28e2db13906118534c3225">calico::Landmark::point_is_constant</a></div><div class="ttdeci">bool point_is_constant</div><div class="ttdoc">Flag for keeping this landmark's point constant or as a free parameter.</div><div class="ttdef"><b>Definition:</b> world_model.h:29</div></div>
<div class="ttc" id="astructcalico_1_1RigidBody_html"><div class="ttname"><a href="structcalico_1_1RigidBody.html">calico::RigidBody</a></div><div class="ttdef"><b>Definition:</b> world_model.h:53</div></div>
<div class="ttc" id="astructcalico_1_1RigidBody_html_a10740abe70a502c155d87108f2c50eaa"><div class="ttname"><a href="structcalico_1_1RigidBody.html#a10740abe70a502c155d87108f2c50eaa">calico::RigidBody::model_definition_is_constant</a></div><div class="ttdeci">bool model_definition_is_constant</div><div class="ttdoc">Flag for keeping the model definition constant or as free parameters.</div><div class="ttdef"><b>Definition:</b> world_model.h:68</div></div>
<div class="ttc" id="astructcalico_1_1RigidBody_html_a637c97b6fafebaae78e52cc40a06b794"><div class="ttname"><a href="structcalico_1_1RigidBody.html#a637c97b6fafebaae78e52cc40a06b794">calico::RigidBody::id</a></div><div class="ttdeci">int id</div><div class="ttdoc">Id of this rigid body. When adding rigid bodies to the BatchOptimizer, id's for all rigid bodies must...</div><div class="ttdef"><b>Definition:</b> world_model.h:62</div></div>
<div class="ttc" id="astructcalico_1_1RigidBody_html_a94fa27a592a25869caed2b420af468ca"><div class="ttname"><a href="structcalico_1_1RigidBody.html#a94fa27a592a25869caed2b420af468ca">calico::RigidBody::T_world_rigidbody</a></div><div class="ttdeci">Pose3d T_world_rigidbody</div><div class="ttdoc">FROM world TO rigidbody transform, .</div><div class="ttdef"><b>Definition:</b> world_model.h:59</div></div>
<div class="ttc" id="astructcalico_1_1RigidBody_html_a9ef4f4a0970873044f524a3fcd7b5682"><div class="ttname"><a href="structcalico_1_1RigidBody.html#a9ef4f4a0970873044f524a3fcd7b5682">calico::RigidBody::model_definition</a></div><div class="ttdeci">std::unordered_map&lt; int, Eigen::Vector3d &gt; model_definition</div><div class="ttdoc">Maps feature id to its 3d point definition resolved in the rigid body frame, . Each feature needs a u...</div><div class="ttdef"><b>Definition:</b> world_model.h:57</div></div>
<div class="ttc" id="astructcalico_1_1RigidBody_html_acb3060fecdee55133d44931193c1db7e"><div class="ttname"><a href="structcalico_1_1RigidBody.html#acb3060fecdee55133d44931193c1db7e">calico::RigidBody::world_pose_is_constant</a></div><div class="ttdeci">bool world_pose_is_constant</div><div class="ttdoc">Flag for keeping this rigid body's world-from-rigidbody pose constant or as a free parameter.</div><div class="ttdef"><b>Definition:</b> world_model.h:65</div></div>
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